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<div class="title">property.h</div>  </div>
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<a href="property_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// g2o - General Graph Optimization</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment">// All rights reserved.</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment">// Redistribution and use in source and binary forms, with or without</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment">// modification, are permitted provided that the following conditions are</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment">// met:</span></div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment">// * Redistributions of source code must retain the above copyright notice,</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment">//   this list of conditions and the following disclaimer.</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment">// * Redistributions in binary form must reproduce the above copyright</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment">//   notice, this list of conditions and the following disclaimer in the</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment">//   documentation and/or other materials provided with the distribution.</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment">// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS &quot;AS</span></div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment">// IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED</span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment">// TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A</span></div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment">// PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT</span></div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment">// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,</span></div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment">// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED</span></div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment">// TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR</span></div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment">// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF</span></div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment">// LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING</span></div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment">// NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS</span></div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment">// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</span></div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="preprocessor">#ifndef G2O_PROPERTY_H_</span></div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="preprocessor">#define G2O_PROPERTY_H_</span></div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="preprocessor">#include &lt;string&gt;</span></div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="preprocessor">#include &lt;map&gt;</span></div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="preprocessor">#include &lt;sstream&gt;</span></div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="string__tools_8h.html">string_tools.h</a>&quot;</span></div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespaceg2o.html">g2o</a> {</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;</div><div class="line"><a name="l00038"></a><span class="lineno"><a class="line" href="classg2o_1_1_base_property.html">   38</a></span>&#160;  <span class="keyword">class  </span><a class="code" href="classg2o_1_1_base_property.html">BaseProperty</a> {</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;    <span class="keyword">public</span>:</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;      <a class="code" href="classg2o_1_1_base_property.html#a00444ab7926d86beb9e66550e40e5d97">BaseProperty</a>(<span class="keyword">const</span> std::string name_);</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;      <span class="keyword">virtual</span> <a class="code" href="classg2o_1_1_base_property.html#acf2a5de9ce5781187fbf6be447918f39">~BaseProperty</a>();</div><div class="line"><a name="l00042"></a><span class="lineno"><a class="line" href="classg2o_1_1_base_property.html#aae91313b0eb376dd9460cd712ecbb86d">   42</a></span>&#160;      <span class="keyword">const</span> std::string&amp; <a class="code" href="classg2o_1_1_base_property.html#aae91313b0eb376dd9460cd712ecbb86d">name</a>() {<span class="keywordflow">return</span> <a class="code" href="classg2o_1_1_base_property.html#a74e4bbf35ddf26022cb39be2ea7abd2b">_name</a>;}</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;      <span class="keyword">virtual</span> std::string <a class="code" href="classg2o_1_1_base_property.html#a7a4191088468c2f03dab52107d130833">toString</a>() <span class="keyword">const</span> = 0;</div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="classg2o_1_1_base_property.html#aeabc313d9f66a403738aece884c85e1d">fromString</a>(<span class="keyword">const</span> std::string&amp; s) = 0;</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;    <span class="keyword">protected</span>:</div><div class="line"><a name="l00046"></a><span class="lineno"><a class="line" href="classg2o_1_1_base_property.html#a74e4bbf35ddf26022cb39be2ea7abd2b">   46</a></span>&#160;      std::string <a class="code" href="classg2o_1_1_base_property.html#a74e4bbf35ddf26022cb39be2ea7abd2b">_name</a>;</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  };</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div><div class="line"><a name="l00050"></a><span class="lineno"><a class="line" href="classg2o_1_1_property.html">   50</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classg2o_1_1_property.html">Property</a>: <span class="keyword">public</span> <a class="code" href="classg2o_1_1_base_property.html">BaseProperty</a> {</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;    <span class="keyword">public</span>:</div><div class="line"><a name="l00052"></a><span class="lineno"><a class="line" href="classg2o_1_1_property.html#a0387bb74c147b54b8fa4f4cd5629fbf8">   52</a></span>&#160;      <span class="keyword">typedef</span> T <a class="code" href="classg2o_1_1_property.html#a0387bb74c147b54b8fa4f4cd5629fbf8">ValueType</a>;</div><div class="line"><a name="l00053"></a><span class="lineno"><a class="line" href="classg2o_1_1_property.html#a15e39f5b08067cff86d2a4f5c838aeee">   53</a></span>&#160;      <a class="code" href="classg2o_1_1_property.html#a15e39f5b08067cff86d2a4f5c838aeee">Property</a>(<span class="keyword">const</span> std::string&amp; name_): <a class="code" href="classg2o_1_1_base_property.html">BaseProperty</a>(name_){}</div><div class="line"><a name="l00054"></a><span class="lineno"><a class="line" href="classg2o_1_1_property.html#a888c7b06876668a0132e32a2a0e28311">   54</a></span>&#160;      <a class="code" href="classg2o_1_1_property.html#a888c7b06876668a0132e32a2a0e28311">Property</a>(<span class="keyword">const</span> std::string&amp; name_, <span class="keyword">const</span> T&amp; v): <a class="code" href="classg2o_1_1_base_property.html">BaseProperty</a>(name_), _value(v){}</div><div class="line"><a name="l00055"></a><span class="lineno"><a class="line" href="classg2o_1_1_property.html#a438d1ca338ce8c3a371654023200068d">   55</a></span>&#160;      <span class="keywordtype">void</span> <a class="code" href="classg2o_1_1_property.html#a438d1ca338ce8c3a371654023200068d">setValue</a>(<span class="keyword">const</span> T&amp; v) {_value = v; }</div><div class="line"><a name="l00056"></a><span class="lineno"><a class="line" href="classg2o_1_1_property.html#a76f706f786f6f1ed351f0629b3bbd382">   56</a></span>&#160;      <span class="keyword">const</span> T&amp; <a class="code" href="classg2o_1_1_property.html#a76f706f786f6f1ed351f0629b3bbd382">value</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _value;}</div><div class="line"><a name="l00057"></a><span class="lineno"><a class="line" href="classg2o_1_1_property.html#a8e3d3f2f79d274384588a1a5b9198cf5">   57</a></span>&#160;      <span class="keyword">virtual</span> std::string <a class="code" href="classg2o_1_1_property.html#a8e3d3f2f79d274384588a1a5b9198cf5">toString</a>()<span class="keyword"> const</span></div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;<span class="keyword">      </span>{</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;        std::stringstream sstr;</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;        sstr &lt;&lt; _value;</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;        <span class="keywordflow">return</span> sstr.str();</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;      }</div><div class="line"><a name="l00063"></a><span class="lineno"><a class="line" href="classg2o_1_1_property.html#a5c0a6eacc67e98d4f0b3fd9fe856dbbe">   63</a></span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="classg2o_1_1_property.html#a5c0a6eacc67e98d4f0b3fd9fe856dbbe">fromString</a>(<span class="keyword">const</span> std::string&amp; s)</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;      {</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;        <span class="keywordtype">bool</span> status = <a class="code" href="group__utils.html#ga599c46f6984e9a2147fac39324e9fadc">convertString</a>(s, _value);</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;        <span class="keywordflow">return</span> status;</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;      }</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    <span class="keyword">protected</span>:</div><div class="line"><a name="l00069"></a><span class="lineno"><a class="line" href="classg2o_1_1_property.html#ae51b1fe0e0a1f0d9a2bcbef7ea3afcf7">   69</a></span>&#160;      T <a class="code" href="classg2o_1_1_property.html#ae51b1fe0e0a1f0d9a2bcbef7ea3afcf7">_value</a>;</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;  };</div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;</div><div class="line"><a name="l00075"></a><span class="lineno"><a class="line" href="classg2o_1_1_property_map.html">   75</a></span>&#160;  <span class="keyword">class  </span><a class="code" href="classg2o_1_1_property_map.html">PropertyMap</a> : <span class="keyword">protected</span> std::map&lt;std::string, BaseProperty*&gt;</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;  {</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;    <span class="keyword">public</span>:</div><div class="line"><a name="l00078"></a><span class="lineno"><a class="line" href="classg2o_1_1_property_map.html#ac57ddbe51d16070e697fe314889fee03">   78</a></span>&#160;      <span class="keyword">typedef</span> std::map&lt;std::string, BaseProperty*&gt;        <a class="code" href="classg2o_1_1_property_map.html#ac57ddbe51d16070e697fe314889fee03">BaseClass</a>;</div><div class="line"><a name="l00079"></a><span class="lineno"><a class="line" href="classg2o_1_1_property_map.html#af5dd0defe4a5096f0d5602b38e837a78">   79</a></span>&#160;      <span class="keyword">typedef</span> BaseClass::iterator                         <a class="code" href="classg2o_1_1_property_map.html#af5dd0defe4a5096f0d5602b38e837a78">PropertyMapIterator</a>;</div><div class="line"><a name="l00080"></a><span class="lineno"><a class="line" href="classg2o_1_1_property_map.html#af09ea140ab099b1762e9634b7fdcaf52">   80</a></span>&#160;      <span class="keyword">typedef</span> BaseClass::const_iterator                   <a class="code" href="classg2o_1_1_property_map.html#af09ea140ab099b1762e9634b7fdcaf52">PropertyMapConstIterator</a>;</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;      ~<a class="code" href="classg2o_1_1_property_map.html">PropertyMap</a>();</div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;      <span class="keywordtype">bool</span> addProperty(<a class="code" href="classg2o_1_1_base_property.html">BaseProperty</a>* p);</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;</div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;      <span class="keywordtype">bool</span> eraseProperty(<span class="keyword">const</span> std::string&amp; name_);</div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;</div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;      <span class="keyword">template</span> &lt;<span class="keyword">typename</span> P&gt; </div><div class="line"><a name="l00098"></a><span class="lineno"><a class="line" href="classg2o_1_1_property_map.html#ab3a37fb6f8358f3c63a13678349f1f82">   98</a></span>&#160;      P* <a class="code" href="classg2o_1_1_property_map.html#ab3a37fb6f8358f3c63a13678349f1f82">getProperty</a>(<span class="keyword">const</span> std::string&amp; name_)</div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;      {</div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;        PropertyMapIterator it=find(name_);</div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;        <span class="keywordflow">if</span> (it==end())</div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;          <span class="keywordflow">return</span> 0;</div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;        <span class="keywordflow">return</span> <span class="keyword">dynamic_cast&lt;</span>P*<span class="keyword">&gt;</span>(it-&gt;second);</div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;      }</div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;      <span class="keyword">template</span> &lt;<span class="keyword">typename</span> P&gt; </div><div class="line"><a name="l00106"></a><span class="lineno"><a class="line" href="classg2o_1_1_property_map.html#a9b09845c08bdfb682a13516d4eacd452">  106</a></span>&#160;      <span class="keyword">const</span> P* <a class="code" href="classg2o_1_1_property_map.html#a9b09845c08bdfb682a13516d4eacd452">getProperty</a>(<span class="keyword">const</span> std::string&amp; name_)<span class="keyword"> const</span></div><div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;<span class="keyword">      </span>{</div><div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;        PropertyMapConstIterator it=find(name_);</div><div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;        <span class="keywordflow">if</span> (it==end())</div><div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;          <span class="keywordflow">return</span> 0;</div><div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;        <span class="keywordflow">return</span> <span class="keyword">dynamic_cast&lt;</span>P*<span class="keyword">&gt;</span>(it-&gt;second);</div><div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;      }</div><div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;</div><div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;      <span class="keyword">template</span> &lt;<span class="keyword">typename</span> P&gt; </div><div class="line"><a name="l00118"></a><span class="lineno"><a class="line" href="classg2o_1_1_property_map.html#add6e602dcd651b8883c30c350d23692f">  118</a></span>&#160;      P* <a class="code" href="classg2o_1_1_property_map.html#add6e602dcd651b8883c30c350d23692f">makeProperty</a>(<span class="keyword">const</span> std::string&amp; name_, <span class="keyword">const</span> <span class="keyword">typename</span> P::ValueType&amp; v)</div><div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;      {</div><div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;        PropertyMapIterator it=find(name_);</div><div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;        <span class="keywordflow">if</span> (it==end()){</div><div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;          P* p=<span class="keyword">new</span> P(name_, v);</div><div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;          addProperty(p);</div><div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;          <span class="keywordflow">return</span> p;</div><div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;        } <span class="keywordflow">else</span> </div><div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;          <span class="keywordflow">return</span> <span class="keyword">dynamic_cast&lt;</span>P*<span class="keyword">&gt;</span>(it-&gt;second);</div><div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;      }</div><div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;</div><div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;      <span class="keywordtype">bool</span> updatePropertyFromString(<span class="keyword">const</span> std::string&amp; <a class="code" href="classg2o_1_1_base_property.html#aae91313b0eb376dd9460cd712ecbb86d">name</a>, <span class="keyword">const</span> std::string&amp; value);</div><div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;</div><div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;      <span class="keywordtype">bool</span> updateMapFromString(<span class="keyword">const</span> std::string&amp; values);</div><div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;</div><div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;      <span class="keywordtype">void</span> writeToCSV(std::ostream&amp; os) <span class="keyword">const</span>;</div><div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;</div><div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;      <span class="keyword">using</span> BaseClass::size;</div><div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;      <span class="keyword">using</span> BaseClass::begin;</div><div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;      <span class="keyword">using</span> BaseClass::end;</div><div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;      <span class="keyword">using</span> BaseClass::iterator;</div><div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;      <span class="keyword">using</span> BaseClass::const_iterator;</div><div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;</div><div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;  };</div><div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;</div><div class="line"><a name="l00151"></a><span class="lineno"><a class="line" href="namespaceg2o.html#aa44e64803eabdb592175e27f1e3ebf59">  151</a></span>&#160;  <span class="keyword">typedef</span> <a class="code" href="classg2o_1_1_property.html">Property&lt;int&gt;</a> <a class="code" href="namespaceg2o.html#aa44e64803eabdb592175e27f1e3ebf59">IntProperty</a>;</div><div class="line"><a name="l00152"></a><span class="lineno"><a class="line" href="namespaceg2o.html#a28e624fedcafeb2b049be2930421071f">  152</a></span>&#160;  <span class="keyword">typedef</span> <a class="code" href="classg2o_1_1_property.html">Property&lt;bool&gt;</a> <a class="code" href="namespaceg2o.html#a28e624fedcafeb2b049be2930421071f">BoolProperty</a>;</div><div class="line"><a name="l00153"></a><span class="lineno"><a class="line" href="namespaceg2o.html#af8e55b06b00e915fcf0475b00acea270">  153</a></span>&#160;  <span class="keyword">typedef</span> <a class="code" href="classg2o_1_1_property.html">Property&lt;float&gt;</a> <a class="code" href="namespaceg2o.html#af8e55b06b00e915fcf0475b00acea270">FloatProperty</a>;</div><div class="line"><a name="l00154"></a><span class="lineno"><a class="line" href="namespaceg2o.html#a9b4e25cbdaf9d69afa4431d6af6d7bed">  154</a></span>&#160;  <span class="keyword">typedef</span> <a class="code" href="classg2o_1_1_property.html">Property&lt;double&gt;</a> <a class="code" href="namespaceg2o.html#a9b4e25cbdaf9d69afa4431d6af6d7bed">DoubleProperty</a>;</div><div class="line"><a name="l00155"></a><span class="lineno"><a class="line" href="namespaceg2o.html#a40c5b0f5bf1dd1e5b9c25c20fcf43920">  155</a></span>&#160;  <span class="keyword">typedef</span> <a class="code" href="classg2o_1_1_property.html">Property&lt;std::string&gt;</a> <a class="code" href="namespaceg2o.html#a40c5b0f5bf1dd1e5b9c25c20fcf43920">StringProperty</a>;</div><div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;</div><div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;} <span class="comment">// end namespace</span></div><div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;<span class="preprocessor">#endif</span></div><div class="ttc" id="classg2o_1_1_base_property_html_a7a4191088468c2f03dab52107d130833"><div class="ttname"><a href="classg2o_1_1_base_property.html#a7a4191088468c2f03dab52107d130833">g2o::BaseProperty::toString</a></div><div class="ttdeci">virtual std::string toString() const =0</div></div>
<div class="ttc" id="classg2o_1_1_property_map_html_ac57ddbe51d16070e697fe314889fee03"><div class="ttname"><a href="classg2o_1_1_property_map.html#ac57ddbe51d16070e697fe314889fee03">g2o::PropertyMap::BaseClass</a></div><div class="ttdeci">std::map&lt; std::string, BaseProperty * &gt; BaseClass</div><div class="ttdef"><b>Definition:</b> property.h:78</div></div>
<div class="ttc" id="namespaceg2o_html_a9b4e25cbdaf9d69afa4431d6af6d7bed"><div class="ttname"><a href="namespaceg2o.html#a9b4e25cbdaf9d69afa4431d6af6d7bed">g2o::DoubleProperty</a></div><div class="ttdeci">Property&lt; double &gt; DoubleProperty</div><div class="ttdef"><b>Definition:</b> property.h:154</div></div>
<div class="ttc" id="classg2o_1_1_property_html_a8e3d3f2f79d274384588a1a5b9198cf5"><div class="ttname"><a href="classg2o_1_1_property.html#a8e3d3f2f79d274384588a1a5b9198cf5">g2o::Property::toString</a></div><div class="ttdeci">virtual std::string toString() const</div><div class="ttdef"><b>Definition:</b> property.h:57</div></div>
<div class="ttc" id="classg2o_1_1_property_map_html_af5dd0defe4a5096f0d5602b38e837a78"><div class="ttname"><a href="classg2o_1_1_property_map.html#af5dd0defe4a5096f0d5602b38e837a78">g2o::PropertyMap::PropertyMapIterator</a></div><div class="ttdeci">BaseClass::iterator PropertyMapIterator</div><div class="ttdef"><b>Definition:</b> property.h:79</div></div>
<div class="ttc" id="classg2o_1_1_property_html_a438d1ca338ce8c3a371654023200068d"><div class="ttname"><a href="classg2o_1_1_property.html#a438d1ca338ce8c3a371654023200068d">g2o::Property::setValue</a></div><div class="ttdeci">void setValue(const T &amp;v)</div><div class="ttdef"><b>Definition:</b> property.h:55</div></div>
<div class="ttc" id="classg2o_1_1_property_html_a0387bb74c147b54b8fa4f4cd5629fbf8"><div class="ttname"><a href="classg2o_1_1_property.html#a0387bb74c147b54b8fa4f4cd5629fbf8">g2o::Property::ValueType</a></div><div class="ttdeci">T ValueType</div><div class="ttdef"><b>Definition:</b> property.h:52</div></div>
<div class="ttc" id="classg2o_1_1_property_map_html_af09ea140ab099b1762e9634b7fdcaf52"><div class="ttname"><a href="classg2o_1_1_property_map.html#af09ea140ab099b1762e9634b7fdcaf52">g2o::PropertyMap::PropertyMapConstIterator</a></div><div class="ttdeci">BaseClass::const_iterator PropertyMapConstIterator</div><div class="ttdef"><b>Definition:</b> property.h:80</div></div>
<div class="ttc" id="classg2o_1_1_property_map_html"><div class="ttname"><a href="classg2o_1_1_property_map.html">g2o::PropertyMap</a></div><div class="ttdoc">a collection of properties mapping from name to the property itself </div><div class="ttdef"><b>Definition:</b> property.h:75</div></div>
<div class="ttc" id="classg2o_1_1_base_property_html_aae91313b0eb376dd9460cd712ecbb86d"><div class="ttname"><a href="classg2o_1_1_base_property.html#aae91313b0eb376dd9460cd712ecbb86d">g2o::BaseProperty::name</a></div><div class="ttdeci">const std::string &amp; name()</div><div class="ttdef"><b>Definition:</b> property.h:42</div></div>
<div class="ttc" id="classg2o_1_1_base_property_html_acf2a5de9ce5781187fbf6be447918f39"><div class="ttname"><a href="classg2o_1_1_base_property.html#acf2a5de9ce5781187fbf6be447918f39">g2o::BaseProperty::~BaseProperty</a></div><div class="ttdeci">virtual ~BaseProperty()</div><div class="ttdef"><b>Definition:</b> property.cpp:42</div></div>
<div class="ttc" id="namespaceg2o_html"><div class="ttname"><a href="namespaceg2o.html">g2o</a></div><div class="ttdef"><b>Definition:</b> base_binary_edge.h:37</div></div>
<div class="ttc" id="namespaceg2o_html_a40c5b0f5bf1dd1e5b9c25c20fcf43920"><div class="ttname"><a href="namespaceg2o.html#a40c5b0f5bf1dd1e5b9c25c20fcf43920">g2o::StringProperty</a></div><div class="ttdeci">Property&lt; std::string &gt; StringProperty</div><div class="ttdef"><b>Definition:</b> property.h:155</div></div>
<div class="ttc" id="classg2o_1_1_property_map_html_add6e602dcd651b8883c30c350d23692f"><div class="ttname"><a href="classg2o_1_1_property_map.html#add6e602dcd651b8883c30c350d23692f">g2o::PropertyMap::makeProperty</a></div><div class="ttdeci">P * makeProperty(const std::string &amp;name_, const typename P::ValueType &amp;v)</div><div class="ttdoc">create a property and insert it </div><div class="ttdef"><b>Definition:</b> property.h:118</div></div>
<div class="ttc" id="classg2o_1_1_property_html_a5c0a6eacc67e98d4f0b3fd9fe856dbbe"><div class="ttname"><a href="classg2o_1_1_property.html#a5c0a6eacc67e98d4f0b3fd9fe856dbbe">g2o::Property::fromString</a></div><div class="ttdeci">virtual bool fromString(const std::string &amp;s)</div><div class="ttdef"><b>Definition:</b> property.h:63</div></div>
<div class="ttc" id="classg2o_1_1_base_property_html_a74e4bbf35ddf26022cb39be2ea7abd2b"><div class="ttname"><a href="classg2o_1_1_base_property.html#a74e4bbf35ddf26022cb39be2ea7abd2b">g2o::BaseProperty::_name</a></div><div class="ttdeci">std::string _name</div><div class="ttdef"><b>Definition:</b> property.h:46</div></div>
<div class="ttc" id="group__utils_html_ga599c46f6984e9a2147fac39324e9fadc"><div class="ttname"><a href="group__utils.html#ga599c46f6984e9a2147fac39324e9fadc">g2o::convertString</a></div><div class="ttdeci">bool convertString(const std::string &amp;s, T &amp;x, bool failIfLeftoverChars=true)</div><div class="ttdoc">convert a string into an other type. </div><div class="ttdef"><b>Definition:</b> string_tools.h:124</div></div>
<div class="ttc" id="classg2o_1_1_property_html_a76f706f786f6f1ed351f0629b3bbd382"><div class="ttname"><a href="classg2o_1_1_property.html#a76f706f786f6f1ed351f0629b3bbd382">g2o::Property::value</a></div><div class="ttdeci">const T &amp; value() const</div><div class="ttdef"><b>Definition:</b> property.h:56</div></div>
<div class="ttc" id="classg2o_1_1_property_html_ae51b1fe0e0a1f0d9a2bcbef7ea3afcf7"><div class="ttname"><a href="classg2o_1_1_property.html#ae51b1fe0e0a1f0d9a2bcbef7ea3afcf7">g2o::Property::_value</a></div><div class="ttdeci">T _value</div><div class="ttdef"><b>Definition:</b> property.h:69</div></div>
<div class="ttc" id="classg2o_1_1_property_map_html_ab3a37fb6f8358f3c63a13678349f1f82"><div class="ttname"><a href="classg2o_1_1_property_map.html#ab3a37fb6f8358f3c63a13678349f1f82">g2o::PropertyMap::getProperty</a></div><div class="ttdeci">P * getProperty(const std::string &amp;name_)</div><div class="ttdoc">return a property by its name </div><div class="ttdef"><b>Definition:</b> property.h:98</div></div>
<div class="ttc" id="namespaceg2o_html_aa44e64803eabdb592175e27f1e3ebf59"><div class="ttname"><a href="namespaceg2o.html#aa44e64803eabdb592175e27f1e3ebf59">g2o::IntProperty</a></div><div class="ttdeci">Property&lt; int &gt; IntProperty</div><div class="ttdef"><b>Definition:</b> property.h:151</div></div>
<div class="ttc" id="classg2o_1_1_base_property_html_a00444ab7926d86beb9e66550e40e5d97"><div class="ttname"><a href="classg2o_1_1_base_property.html#a00444ab7926d86beb9e66550e40e5d97">g2o::BaseProperty::BaseProperty</a></div><div class="ttdeci">BaseProperty(const std::string name_)</div><div class="ttdef"><b>Definition:</b> property.cpp:39</div></div>
<div class="ttc" id="classg2o_1_1_property_map_html_a9b09845c08bdfb682a13516d4eacd452"><div class="ttname"><a href="classg2o_1_1_property_map.html#a9b09845c08bdfb682a13516d4eacd452">g2o::PropertyMap::getProperty</a></div><div class="ttdeci">const P * getProperty(const std::string &amp;name_) const</div><div class="ttdef"><b>Definition:</b> property.h:106</div></div>
<div class="ttc" id="classg2o_1_1_base_property_html_aeabc313d9f66a403738aece884c85e1d"><div class="ttname"><a href="classg2o_1_1_base_property.html#aeabc313d9f66a403738aece884c85e1d">g2o::BaseProperty::fromString</a></div><div class="ttdeci">virtual bool fromString(const std::string &amp;s)=0</div></div>
<div class="ttc" id="string__tools_8h_html"><div class="ttname"><a href="string__tools_8h.html">string_tools.h</a></div></div>
<div class="ttc" id="namespaceg2o_html_af8e55b06b00e915fcf0475b00acea270"><div class="ttname"><a href="namespaceg2o.html#af8e55b06b00e915fcf0475b00acea270">g2o::FloatProperty</a></div><div class="ttdeci">Property&lt; float &gt; FloatProperty</div><div class="ttdef"><b>Definition:</b> property.h:153</div></div>
<div class="ttc" id="classg2o_1_1_property_html_a888c7b06876668a0132e32a2a0e28311"><div class="ttname"><a href="classg2o_1_1_property.html#a888c7b06876668a0132e32a2a0e28311">g2o::Property::Property</a></div><div class="ttdeci">Property(const std::string &amp;name_, const T &amp;v)</div><div class="ttdef"><b>Definition:</b> property.h:54</div></div>
<div class="ttc" id="classg2o_1_1_property_html"><div class="ttname"><a href="classg2o_1_1_property.html">g2o::Property</a></div><div class="ttdef"><b>Definition:</b> property.h:50</div></div>
<div class="ttc" id="namespaceg2o_html_a28e624fedcafeb2b049be2930421071f"><div class="ttname"><a href="namespaceg2o.html#a28e624fedcafeb2b049be2930421071f">g2o::BoolProperty</a></div><div class="ttdeci">Property&lt; bool &gt; BoolProperty</div><div class="ttdef"><b>Definition:</b> property.h:152</div></div>
<div class="ttc" id="classg2o_1_1_property_html_a15e39f5b08067cff86d2a4f5c838aeee"><div class="ttname"><a href="classg2o_1_1_property.html#a15e39f5b08067cff86d2a4f5c838aeee">g2o::Property::Property</a></div><div class="ttdeci">Property(const std::string &amp;name_)</div><div class="ttdef"><b>Definition:</b> property.h:53</div></div>
<div class="ttc" id="classg2o_1_1_base_property_html"><div class="ttname"><a href="classg2o_1_1_base_property.html">g2o::BaseProperty</a></div><div class="ttdef"><b>Definition:</b> property.h:38</div></div>
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